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Reproduction and Evaluation of ACT on the MuJoCo Dual-Arm Block Handover Task

A complete reproduction of the Action Chunking Transformer (ACT), implemented with LeRobot, on the MuJoCo dual-arm block handover task, covering the CVAE and action-chunking derivations, frame-by-frame comparison against the dataset to validate the inference pipeline, and a 20-episode deterministic closed-loop evaluation with a comparison of execution modes.

Part of the event: ACT reproduction evaluation completed on MuJoCo dual-arm block handover task

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